阅读说明：本技术 一种用于零部件加工的六轴设备及使用方法 (Six-axis equipment for part machining and use method ) 是由 李文美 于 2021-08-19 设计创作，主要内容包括：本发明属于机械加工技术领域,具体涉及一种用于零部件加工的六轴设备,包括六轴机械臂、加工平台、限位组件、支撑组件、理平组件,所述六轴机械臂设置于加工平台的外侧,所述限位组件连接于加工平台的上端,所述支撑组件设置于限位组件的下端并与加工平台连接,所述理平组件设置于限位组件的一侧,本发明解决了现有六轴加工装置对工件抓取再转移到车床进行切削加工,存在工件放置不平稳而滚动,夹具定位困难,尤其是工件为管状时,在机械臂对其抓取前,工件就已经存在倾斜,在后续车床设备上,工件放置的误差会扩大,需要不同工件位置情况针对性的调整,严重影响工件加工效率的问题。(The invention belongs to the technical field of machining, and particularly relates to six-axis equipment for machining parts, which comprises six-axis mechanical arms, a machining platform, a limiting component, a supporting component and a leveling component, wherein the six-axis mechanical arms are arranged on the outer side of the machining platform, the limiting component is connected to the upper end of the machining platform, the supporting component is arranged at the lower end of the limiting component and is connected with the machining platform, and the leveling component is arranged on one side of the limiting component. The processing efficiency of the workpiece is seriously influenced.)

1. A six-shaft equipment for spare part processing which characterized in that: the automatic cutting machine comprises six-axis mechanical arms (1), a processing platform (14), a limiting component (2), a supporting component (3) and a leveling component (4), wherein the six-axis mechanical arms (1) are arranged on the outer side of the processing platform (14), the limiting component (2) is connected to the upper end of the processing platform (14), the supporting component (3) is arranged at the lower end of the limiting component (2) and is connected with the processing platform (14), the leveling component (4) is arranged on one side of the limiting component (2), a workpiece (7) is placed in the leveling component (4), the supporting component (3) is movably connected with a supporting block (32), the supporting block (32) is in contact with the bottom of the workpiece (7) to prevent the workpiece (7) from inclining, two clamping blocks (22) which are movably connected are arranged on the limiting component (2), and one end of the workpiece (7) is clamped by the two clamping blocks (22), the six-axis mechanical arm (1) grabs the workpiece (7).

2. A six-axis apparatus for parts machining according to claim 1, wherein: processing platform (14) go up still sliding connection have measurement and control subassembly (6), measurement and control subassembly (6) set up in the outside of work piece (7), measurement and control subassembly (6) put in place subassembly (8) including measurement and control probe (61), work piece, measurement and control probe (61) and the central axis of work piece (7) are in same horizontal plane and mutually perpendicular, work as measurement and control subassembly (6) slide back on processing platform (14), measurement and control probe (61) can contact with the periphery of work piece (7), measurement and control probe (61) record the displacement of current measurement and control subassembly (6) and pass to external system with this measurement and control data, the work piece puts in place subassembly (8) including setting up work piece propulsion (85) on processing platform (14) upper portion, still be connected with on measurement and control probe (61) and is equipped with butt strip (611), the one end of butt strip (611) surpass the long limit of probe (61) and can with work piece propulsion (85) meet And (4) contacting.

3. A six-axis apparatus for parts machining according to claim 1, wherein: the leveling component (4) is provided with a through hole (41), and the inner wall of the through hole (41) is provided with an elastic rubber pad (42).

4. A six-axis apparatus for parts machining according to claim 1, wherein: the flat-arranging component (4) is provided with a sliding rail (43), and the flat-arranging component (4) is connected with the processing platform (14) in a sliding mode through the sliding rail (43).

5. A six-axis apparatus for parts machining according to claim 1, wherein: the front part of the six-axis mechanical arm (1) is movably connected with a rotating head (11), two symmetrical grabbing units (12) are arranged at two ends of the rotating head (11), and each grabbing unit (12) is provided with two grabbing fingers (13).

6. A six-axis apparatus for parts machining according to claim 1, wherein: spacing subassembly (2) are gone up still to have regulation portion (23) and are sliding part (21) that the symmetry set up, grip block (22) with the inboard of sliding part (21) is connected, two sliding part (21) drive grip block (22) can press from both sides work piece (7) tightly when moving towards the inboard, regulation portion (23) set up in the upper end of sliding part (21), rotation dop (230) and drive have on regulation portion (23) rotate dop (230) pivoted locking unit (24), it rotates and will to rotate dop (230) relative regulation portion (23) grip block (22) move towards two outsides of sliding part (21).

7. A six-axis apparatus for parts machining according to claim 1, wherein: still include supplementary adjusting device (5), supplementary adjusting device (5) set up in the rear side of reason flat subassembly (4) and are connected with the upper end of processing platform (14), supplementary adjusting device (5) include work piece adjusting part (52) and rotate adjusting cylinder (502), the front portion of work piece adjusting part (52) is equipped with to draw and pushes away portion (523), draw and push away portion (523) and pass through rotate adjusting cylinder (502) flexible and swing for draw and push away portion (523) and work piece (7) and combine together or separate.

8. A six-axis apparatus for parts machining according to claim 7, wherein: the auxiliary adjusting device (5) further comprises a workpiece length adjusting cylinder (501), the workpiece length adjusting cylinder (501) is arranged at the tail of the workpiece adjusting component (52), and the workpiece length adjusting cylinder (501) drives the pulling and pushing part (523) to horizontally move the workpiece (7) so as to change the advancing and retreating distance of the workpiece (7).

9. A six-axis apparatus for parts machining according to claim 1, wherein: the inner sides of the clamping blocks (22) are arc-shaped, and a gap (220) is reserved between the two clamping blocks (22).

10. The use of a six-axis machine for the machining of parts as claimed in claim 1, wherein: the method comprises the following steps:

s1: the device is assembled, the six-axis mechanical arm (1) is arranged on the outer side of a machining platform (14), the supporting component (3) is arranged at the lower end of the limiting component (2), the limiting component (2) is connected to the upper end of the machining platform (14), the leveling component (4) is arranged on one side of the limiting component (2), and the supporting block (32) is in contact with the bottom of a workpiece (7);

s2: the leveling component (4) is matched with the limiting component (2), one end of a workpiece penetrates through the leveling component (4) and extends into the limiting component (2), and the horizontal degree of freedom of the workpiece is reserved;

s3: the limiting assembly (2) is used for fixing work, one end of a workpiece is arranged between the two clamping blocks (22), and the clamping blocks (22) generate clamping force on the workpiece and fix the workpiece;

s4: and (3) grabbing the workpiece, rotating and positioning the six-axis mechanical arm (1), and grabbing the workpiece and transferring the workpiece to an external lathe for cutting.

Technical Field

The invention belongs to the technical field of machining, and particularly relates to six-axis equipment for part machining and a using method of the six-axis equipment.

Background

In the numerical control machine tool machining production, a six-axis robot is often used to realize an automatic production line. On the frame of lathe, the overall structure of manipulator digit control machine tool is compacter, and the space that occupies is little, has practiced thrift the space. The six-axis multi-joint robot system has the advantages of high efficiency and stability, simple structure and easy maintenance, can meet the production requirements of different products, can adjust the product structure and enlarge the productivity for users quickly, and can greatly reduce the labor intensity of industrial workers. The automatic multi-freedom-degree feeding and discharging device has the advantages that flexible combination of multiple numerical control machines is realized, automatic feeding and discharging of multiple degrees of freedom and workpiece clamping are realized, the requirements of high-difficulty production processes are met, industrial CCD visual detection can be configured, and free grabbing of complex workpieces is realized; the continuous production of single workpieces in large batch can be realized, and the automatic program conversion production of multiple varieties in small batch can be realized.

Chinese patent with application number CN201721282414.3 discloses a dustproof structure of a six-axis cutting machine, which comprises a frame, six processing devices and a vacuum adsorption device, wherein the six processing devices are slidably located above the vacuum adsorption device, the vacuum adsorption device comprises an adsorption mechanism and a dustproof mechanism, the adsorption mechanism is provided with a quick-disassembly-assembly type workbench and a vacuum pipeline which are mutually communicated to form vacuum adsorption, the quick-disassembly-assembly type workbench is arranged on the dustproof mechanism through an avoiding mechanism, the vacuum pipeline is arranged in the dustproof mechanism, and cleaning mechanisms are arranged on two sides of the dustproof mechanism; the utility model discloses a beneficial effect embodies: adopt fixed sheet metal type dust cover to replace traditional nylon trailing type dustproof construction, increase the life of machine, can reach better dustproof effect to be equipped with between processingequipment and clean the mechanism, can circulate through the brush and clean in the course of working, in time clean and collect the waste material, reduce artifical intensity of labour by a wide margin, reduce the machine fault rate, reduction in production cost, the be convenient for use in production, the practicality is strong.

However, the six-axis machining device in the prior art grabs the workpiece and then transfers the workpiece to the lathe for cutting, so that the workpiece is not stably placed and rolls, the fixture is difficult to position, especially when the workpiece is tubular, the workpiece is already inclined before the mechanical arm grabs the workpiece, and on subsequent lathe equipment, the error in placing the workpiece is enlarged, and the workpiece is required to be pertinently adjusted in different workpiece positions, so that the workpiece machining efficiency is seriously affected.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides six-axis equipment for processing parts, which is used for solving the problems that the workpiece is grabbed by the existing six-axis processing device and then transferred to a lathe for cutting processing, the workpiece is not stably placed and rolls, a clamp is difficult to position, especially when the workpiece is tubular, the workpiece is inclined before being grabbed by a mechanical arm, the error of workpiece placement on subsequent lathe equipment is enlarged, the position conditions of different workpieces are required to be adjusted in a targeted manner, and the processing efficiency of the workpiece is seriously influenced.

In order to solve the technical problems, the invention adopts the following technical scheme:

the utility model provides a six equipment for spare part processing, includes six arms, processing platform, spacing subassembly, supporting component, the subassembly of leveling up, six arms set up in the outside of processing platform, spacing subassembly is connected in the upper end of processing platform, the supporting component sets up in the lower extreme of spacing subassembly and is connected with the processing platform, the subassembly of leveling up sets up in one side of spacing subassembly, the work piece has been placed in the subassembly of leveling up, swing joint has the supporting shoe on the supporting component, the supporting shoe contacts with the bottom of work piece, prevents the work piece slope, spacing subassembly has two grip blocks of swing joint, two the grip block carries out the centre gripping to the one end of work piece, six arms snatch the work piece.

In the clamping process, the deviation caused by the matching of the workpiece and the clamp is reduced, and the machining efficiency of the workpiece and the precision of a finished product are improved.

Further, it has the measurement and control subassembly to go back sliding connection on the processing platform, the measurement and control subassembly sets up in the outside of work piece, the measurement and control subassembly includes measurement and control probe, work piece subassembly that targets in place, the central axis of measurement and control probe and work piece is in same horizontal plane and mutually perpendicular, works as the measurement and control subassembly slides the back on the processing platform, the measurement and control probe can contact with the periphery of work piece, the current displacement of measurement and control subassembly of measurement and control probe record reaches external system with this measurement and control data, the work piece subassembly that targets in place is including setting up in the work piece propulsion piece on processing platform upper portion, still be connected with on the measurement and control probe and be equipped with the butt strip, the one end of butt strip surpasss the long limit of measurement and control probe and can contact with the work piece propulsion piece.

The measurement and control assembly can measure the workpiece, the working efficiency can be improved, and errors caused by repeated clamping can be reduced to the greatest extent.

Furthermore, a through hole is formed in the leveling assembly, and an elastic rubber pad is arranged on the inner wall of the through hole.

The flat-arranging component is added to support and lift the tubular work to be horizontal, wherein the elastic rubber pad is used for placing a workpiece to be in direct contact with the through hole to collide with the inner wall of the through hole to be damaged or to work for a long time to be worn.

Furthermore, a sliding rail is arranged on the leveling component, and the leveling component is connected with the machining platform in a sliding mode through the sliding rail.

The leveling component is provided with a slide rail, and the force point of the through hole on the leveling component and the tubular workpiece is changed through the slide rail, so that the requirements of adapting to tubular workpieces with different lengths can be met, and the adjustment is convenient.

Furthermore, the front part of the six-axis mechanical arm is movably connected with a rotating head, two ends of the rotating head are provided with symmetrical grabbing units, and each grabbing unit is provided with two grabbing fingers.

Further, the limiting assembly is further provided with an adjusting portion and sliding portions symmetrically arranged, the clamping block is connected with the inner side of the sliding portion, the sliding portions drive the clamping block to clamp a workpiece when the clamping block moves towards the inner side, the adjusting portion is arranged at the upper end of the sliding portion, the adjusting portion is provided with a rotating chuck and a locking unit driving the rotating chuck to rotate, and the rotating chuck rotates relative to the adjusting portion and moves the clamping block towards the two outer sides of the sliding portion.

Further, still include supplementary adjusting device, supplementary adjusting device sets up in the rear side of the subassembly of leveling and is connected with the upper end of processing platform, supplementary adjusting device includes work piece adjusting part and rotation adjusting cylinder, the front portion of work piece adjusting part is equipped with draws and pushes away the portion, draw and push away the portion through the flexible swing that rotates adjusting cylinder for draw and push away the portion and combine together or separate with the work piece.

The workpiece adjusting assembly has the functions of clamping and moving, plays an auxiliary role in lifting the workpiece for the subsequent leveling assembly, is reasonable in design, can change the acting point of the tubular workpiece, and realizes the combination of the pulling and pushing part on the workpiece by rotating the extension of the adjusting cylinder.

Furthermore, the auxiliary adjusting device further comprises a workpiece length adjusting cylinder, the workpiece length adjusting cylinder is arranged at the tail part of the workpiece adjusting assembly, and the workpiece length adjusting cylinder drives the pulling and pushing part to horizontally move the workpiece, so that the advancing and retreating distance of the workpiece is changed.

Under the drive of work piece length adjustment cylinder, with the relative flat subassembly removal of reason of work piece adjusting part, pull and push away the portion and can fix the work piece for the one end of work piece can remove in the through-hole of flat subassembly, makes to tubular workpiece support evenly and avoid the slope.

Furthermore, the clamping blocks are arc-shaped on the inner sides, and a gap is reserved between the two clamping blocks.

The gap is to allow room for the head of the support assembly. The inner side of the clamping block is arc-shaped, and the arc shape can be customized according to the external form of an actual workpiece and is also suitable for the requirement of a tubular workpiece.

The use method of the six-axis equipment for machining the parts comprises the following steps:

s1: the device is assembled, the six mechanical arms are arranged on the outer side of the processing platform, the supporting assembly is arranged at the lower end of the limiting assembly, the limiting assembly is connected to the upper end of the processing platform, the leveling assembly is arranged on one side of the limiting assembly, and the supporting block is in contact with the bottom of the workpiece;

s2: the leveling component is matched with the limiting component, one end of the workpiece penetrates into the leveling component and extends into the limiting component, and the horizontal degree of freedom of the workpiece is reserved;

s3: the limiting assembly fixes the work, one end of the workpiece is arranged between the two clamping blocks, and the clamping blocks generate clamping force for the workpiece and fix the workpiece;

s4: and (4) grabbing the workpiece, rotating and positioning the six mechanical arms, and grabbing the workpiece and transferring the workpiece to an external lathe for cutting.

Compared with the prior art, the invention has the following beneficial effects:

1. on one hand, the supporting component is additionally provided with a vertical direction for adjusting the position of a workpiece, so that the workpiece can be further prevented from deviating and inclining, the lower end of the supporting component controls the supporting block to ascend and descend and is in contact with the bottom of the workpiece, when the workpiece is clamped by the two clamping blocks, the form deviation is overlarge, an included angle formed by the workpiece and the water surface is large, the acting point of the clamping block is too small, when the clamping force is overlarge, the contact acting point of the outer wall of the workpiece and the clamping blocks is changed by moving the workpiece up and down, the pressure of the workpiece on the clamping blocks on two sides is adjusted, and the clamping is further balanced;

2. according to the invention, the limiting assembly is adopted to limit a workpiece, the clamping block clamps the workpiece therein, on one hand, the position of the workpiece in the left and right directions is limited and is isolated from other workpieces, on the other hand, the shape of the workpiece is adjusted in the clamping process of the clamping block, the bottom of the workpiece is ensured to be in complete contact with a processing platform, then, the six mechanical arms grab the workpiece, the grabbed workpiece is transferred to a machine tool on the six mechanical arms, after the workpiece is placed, the workpiece cannot be shifted in position, and further, the fixture positions the workpiece to meet the requirement of subsequent processing, in the clamping process, the deviation caused by the matching of the workpiece and the fixture is reduced, and the processing efficiency and finished product precision of the workpiece machine are favorably improved;

3. the measurement and control assembly can measure the workpiece, so that the working efficiency can be improved, and errors caused by repeated clamping can be reduced to the maximum extent.

Drawings

FIG. 1 is a schematic top view of a six-axis apparatus for machining parts according to an embodiment of the present invention;

FIG. 2 is a schematic partial perspective view of a six-axis apparatus for machining parts according to an embodiment of the present invention;

FIG. 3 is a schematic perspective view of an auxiliary adjusting device of an embodiment of a six-axis apparatus for processing parts according to the present invention;

FIG. 4 is a schematic perspective view of a leveling assembly in an embodiment of a six-axis apparatus for part processing according to the present invention;

FIG. 5 is a schematic perspective view of an overall six-axis apparatus for machining parts according to an embodiment of the present invention;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

reference numerals in the drawings of the specification include:

the six-axis mechanical arm comprises a six-axis mechanical arm 1, a rotating head 11, a grabbing unit 12, grabbing fingers 13 and a processing platform 14;

the limiting component 2, the sliding part 21, the clamping block 22, the gap 220, the adjusting part 23, the rotating chuck 230, the locking unit 24, the supporting component 3 and the supporting block 32;

the leveling component 4, a through hole 41, an elastic rubber pad 42 and a slide rail 43;

the auxiliary adjusting device 5, the workpiece adjusting component 52, the pulling and pushing part 523, the pulling and pushing chuck 5231, the placing table 5232, the elastic limit block 5233, the rotating wheel 5234, the workpiece length adjusting cylinder 501 and the rotating adjusting cylinder 502;

the measurement and control assembly 6, the measurement and control probe 61, the abutting strip 611, the driving mechanism 62, the driving screw 621, the driving hand wheel 623, the measurement and control slide rail 63, the measurement and control slide plate 64 and the workpiece 7;

a workpiece positioning component 8 and a workpiece pushing component 85.

Detailed Description

In order that those skilled in the art can better understand the present invention, the following technical solutions are further described with reference to the accompanying drawings and examples.

Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The first embodiment is as follows:

as shown in fig. 1-6, the six-axis device for processing parts of the present invention includes a six-axis robot arm 1, a processing platform 14, a limiting component 2, a supporting component 3, and a leveling component 4, wherein the six-axis robot arm 1 is disposed outside the processing platform 14, the limiting component 2 is connected to the upper end of the processing platform 14, the supporting component 3 is disposed at the lower end of the limiting component 2 and connected to the processing platform 14, the leveling component 4 is disposed at one side of the limiting component 2, a workpiece 7 is disposed in the leveling component 4, the supporting component 3 is movably connected to a supporting block 32, the supporting block 32 is in contact with the bottom of the workpiece 7 to prevent the workpiece 7 from tilting, the limiting component 2 is provided with two clamping blocks 22 which are movably connected, the two clamping blocks 22 clamp one end of the workpiece 7, and the six-axis robot arm 1 captures the workpiece 7.

According to the invention, the limiting component 2 is adopted to limit a workpiece, the clamping block 22 clamps the workpiece therein, on one hand, the position of the workpiece in the left and right directions is limited and is isolated from other workpieces, on the other hand, the shape of the workpiece is adjusted in the clamping process of the clamping block 22, the bottom of the workpiece is ensured to be in complete contact with a processing platform, then, the six-axis mechanical arm 1 grabs the workpiece, the grabbed workpiece is transferred to a machine tool on the six-axis mechanical arm 1, after placement, the workpiece cannot be shifted in position, and further the positioning of the workpiece by the clamp meets the requirement of subsequent processing. On the one hand, the supporting component 3 is added with the adjustment of a vertical direction to the position of the workpiece, the workpiece can be further prevented from deviating and inclining, on the other hand, the lower end of the supporting component 3 can be controlled by a telescopic cylinder (not shown in the figure) to ascend and descend and to be in contact with the bottom of the workpiece, when the workpiece is clamped by the two clamping blocks 22, the form deviation is overlarge, an included angle formed by the supporting component and the water surface is large, the acting point of the clamping block 22 is over-small, when the clamping force is overlarge, the contact acting point of the outer wall of the workpiece and the clamping block 22 is changed by moving the workpiece up and down, the pressure of the workpiece to the clamping blocks 22 on the two sides is adjusted, and further, the clamping is more balanced.

Still sliding connection has measurement and control subassembly 6 on processing platform 14, measurement and control subassembly 6 sets up in the outside of work piece 7, measurement and control subassembly 6 includes measurement and control probe 61, the work piece subassembly 8 that targets in place, measurement and control probe 61 is in same horizontal plane and mutually perpendicular with the central axis of work piece 7, after measurement and control subassembly 6 slides on processing platform 14, measurement and control probe 61 can contact with the periphery of work piece 7, measurement and control probe 61 records current measurement and control subassembly 6's displacement and passes to external system with this measurement and control data, the work piece subassembly 8 that targets in place is including setting up in the work piece propulsion 85 on processing platform 14 upper portion, still be connected with on measurement and control probe 61 and be equipped with butt strip 611, the one end of butt 611 surpasss the long limit of measurement and control probe 61 and can contact with work piece propulsion 85. The measurement and control assembly 6 can measure the workpiece, so that the working efficiency can be improved, and errors caused by repeated clamping can be reduced to the greatest extent. Today, where time costs are getting higher, increasing accuracy and efficiency means that more profit margin is possible. In the invention, when the tubular workpiece moves towards the limiting component 2, the measurement and control probe 61 in the measurement and control component 6 can measure the change of the central axis for a plurality of times, so that the situation that the workpiece moves continuously after shaking to cause the offset expansion and the workpiece cannot be corrected in time is prevented.

The measurement and control assembly 6 further comprises a measurement and control slide rail 63 and a measurement and control slide plate 64 in sliding connection with the measurement and control slide rail 63, the measurement and control probe 61 is connected with the upper portion of the measurement and control slide plate 64, a driving mechanism 62 can be arranged outside the measurement and control slide plate 64, the driving mechanism 62 comprises a driving screw 621 and a driving hand wheel 623, the driving screw 621 is arranged on the measurement and control slide plate 64, two ends of the screw 621 are respectively connected with the measurement and control probe 61 and the driving hand wheel 623, the driving hand wheel 623 is rotated, the measurement and control assembly 6 moves towards the radial direction of the workpiece 7, and when the measurement and control probe 61 is in contact with the workpiece 7, the measurement and control probe 61 records the current moving distance and transmits measurement and control data to an external system. The driving mechanism 62 in the invention moves the measurement and control assembly 6 towards the normal position of the central axis of the workpiece, when the measurement and control probe 61 is contacted with the workpiece, a sensor at the front end of the measurement and control probe 61 sends a signal, an external system records the moving distance of the measurement and control assembly 6, the measurement and control assembly 6 also repeatedly moves when the workpiece moves for multiple times, and the measurement and control probe 61 records the moving distance of the measurement and control assembly 6 for multiple times.

When the sliding distance of the workpiece in-place component 8 is too large, the workpiece pushing component 85 may directly contact or even collide with the measurement and control probe 61, and after a long time, the measurement and control component 6 is damaged, and the abutting strip 611 can play a role of collision prevention, and of course, the abutting strip 611 can be made of an elastic material.

The leveling component 4 is provided with a through hole 41, and the inner wall of the through hole 41 is provided with an elastic rubber pad 42. The leveling component 4 is added to meet the requirement of a tubular workpiece, the other side of the tubular workpiece is sleeved in the through hole 41 to support and lift the tubular workpiece to be horizontal, and the elastic rubber pad 42 is used for placing the workpiece to be in direct contact with the through hole 41 to collide with the inner wall of the through hole 41 to damage or work for a long time to wear. The leveling component 4 is provided with a slide rail 43, and the leveling component 4 is connected with the processing platform 14 in a sliding manner through the slide rail 43. The flat-arranging component 4 is provided with a slide rail 43, and the force point of the through hole 41 on the flat-arranging component 4 and the tubular workpiece is changed through the slide rail 43, so that the flat-arranging component can adapt to the requirements of tubular workpieces with different lengths, and is convenient to adjust.

The front part of the six-axis mechanical arm 1 is movably connected with a rotating head 11, two ends of the rotating head 11 are provided with symmetrical grabbing units 12, and each grabbing unit 12 is provided with two grabbing fingers 13. The limiting component 2 is further provided with an adjusting portion 23 and sliding portions 21 which are symmetrically arranged, the clamping block 22 is connected with the inner side of the sliding portion 21, the two sliding portions 21 drive the clamping block 22 to clamp the workpiece 7 when moving towards the inner side, the adjusting portion 23 is arranged at the upper end of the sliding portion 21, the adjusting portion 23 is provided with a rotating chuck 230 and a locking unit 24 which drives the rotating chuck 230 to rotate, and the rotating chuck 230 rotates relative to the adjusting portion 23 and moves the clamping block 22 towards the two outer sides of the sliding portion 21. Sliding part 21 includes cylinder and the mounting of setting on processing platform and constitutes, when the cylinder extension is collapsible, the grip block 22 that drives the one end of being connected with the cylinder slides on processing platform relatively, and the mounting has the effect of fixed cylinder, the inside of regulating part 23 still is equipped with the elasticity casting die, be equipped with the arch on the rotation dop 230, after pressing the elasticity casting die, arch and elasticity casting die phase separation, it can rotate relative grip block 22 to rotate dop 230, release the elasticity casting die, the arch cooperatees with the elasticity casting die, it is locked by locking unit 24 to rotate dop 230.

When the rotating chuck 230 acts on the clamping blocks 22 and one of the clamping blocks 22 needs not to move, the groove can be formed on the elastic pressing piece through the pressing action of the elastic pressing piece, and the elastic pressing piece is matched with the rotating chuck 230 to match the protrusion with the elastic pressing piece, so that the rotating chuck 230 is locked with the locking unit 24, and the purpose of controlling the adjusting part 23 to the sliding part 21 respectively or simultaneously is achieved.

The auxiliary adjusting device 5 is arranged at the rear side of the leveling component 4 and connected with the upper end of the processing platform 14, the auxiliary adjusting device 5 comprises a workpiece adjusting component 52 and a rotating adjusting cylinder 502, a pulling and pushing part 523 is arranged at the front part of the workpiece adjusting component 52, and the pulling and pushing part 523 swings through the extension and retraction of the rotating adjusting cylinder 502, so that the pulling and pushing part 523 is combined with or separated from the workpiece 7. The workpiece adjusting assembly 52 has the functions of clamping and moving, plays an auxiliary role in lifting the workpiece for the subsequent leveling assembly 4, is reasonable in design, can change the acting point of the tubular workpiece by the workpiece adjusting assembly 52, and realizes the combination of the pulling and pushing part 523 on the workpiece by rotating the extension of the adjusting cylinder 502.

The auxiliary adjusting device 5 further comprises a workpiece length adjusting cylinder 501, the workpiece length adjusting cylinder 501 is arranged at the tail of the workpiece adjusting assembly 52, and the workpiece length adjusting cylinder 501 drives the pulling and pushing part 523 to horizontally move the workpiece 7, so that the advancing and retreating distance of the workpiece 7 is changed. Driven by the workpiece length adjusting cylinder 501, the workpiece adjusting assembly 52 moves relative to the leveling assembly 4, and the pulling and pushing part 523 can fix the workpiece, so that one end of the workpiece can move in the through hole 41 of the leveling assembly 4, and the tubular workpiece is uniformly supported to avoid inclination. The pulling and pushing part 523 is connected with symmetric pulling and pushing head blocks 5231 and placing tables 5232, two inner sides of each pulling and pushing head block 5231 are provided with elastic limit blocks 5233, two outer sides of each pulling and pushing head block 5231 are provided with rotating wheels 5234, and the rotating wheels 5234 are used for fixing the elastic limit blocks 5233. The pulling and pushing part 523 can play a role in placing when the workpiece is not moved, on the other hand, the pulling and pushing chuck 5231 fixes the tubular workpiece in the middle through the rotating force of the pulling and pushing part 523 to realize clamping, so that the dislocation of the central axis and the through hole 41 of the leveling component 4 is avoided, the tubular workpiece cannot enter the leveling component 4 after being moved and loses the supporting and lifting functions, and the placing table 5232 is used for placing the workpiece before being moved.

The inner sides of the clamping blocks 22 are arc-shaped, and a gap 220 is left between the two clamping blocks 22. The gap 220 is intended to leave room for the head of the support assembly 3. The inner side of the clamping block 22 is arc-shaped, which can be customized according to the outer shape of the actual workpiece, and is also suitable for the requirement of tubular workpieces.

The use method of the six-axis equipment for machining the parts comprises the following steps:

s1: assembling the device, namely arranging the six-axis mechanical arm 1 outside the processing platform 14, arranging the support component 3 at the lower end of the limiting component 2, connecting the limiting component 2 to the upper end of the processing platform 14, arranging the leveling component 4 at one side of the limiting component 2, and contacting the support block 32 with the bottom of the workpiece 7;

s2: the leveling component 4 is matched with the limiting component 2, one end of a workpiece penetrates through the leveling component 4 and extends into the limiting component 2, and the horizontal degree of freedom of the workpiece is reserved;

s3: the limiting assembly 2 fixes the work, one end of the workpiece is arranged between the two clamping blocks 22, and the clamping blocks 22 generate clamping force for the workpiece and fix the workpiece;

s4: and (3) grabbing the workpiece, rotating and positioning the six-axis mechanical arm 1, and grabbing the workpiece and transferring the workpiece to an external lathe for cutting.

The foregoing are merely exemplary embodiments of the present invention, and no attempt is made to show structural details of the invention in more detail than is necessary for the fundamental understanding of the art, the description taken with the drawings making apparent to those skilled in the art how the several forms of the invention may be embodied in practice with the teachings of the invention. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not indicated or implied that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and the specific meanings of the terms may be understood by those skilled in the art according to specific situations.

In the description of the present invention, unless otherwise explicitly specified or limited, the term "connected" or the like, if appearing to indicate a connection relationship between the components, is to be understood broadly, for example, as being fixed or detachable or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through one or more other components or may be in an interactive relationship with one another. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.